Apparatus for controlling electromechanical brake system and method of controlling electromechanical brake system

Abstract

Disclosed herein are an apparatus for controlling an electromechanical brake system and a method thereof, the apparatus comprising: a first brake control module configured to receive one or more of an electronic parking brake (EPB) switching signal, a brake control signal, and a cylinder pressure value, and to operate a parking brake and an additional brake valve; a second brake control module configured to receive one or more of a brake pedal signal, a brake control signal, and a cylinder pressure value, and operate a brake motor and a main brake valve; a first power supply module configured to supply power to the first brake control module; the second power supply module is configured to supply power to the second brake control module; an integrated switch configured to integrate outputs of the first power module and the second power module; and a connection bus configured to transmit the transmit signal and the receive signal. The device for controlling the electromechanical brake system and the method thereof can improve the stability of the brake system.

Description

Technical Field

[0001] Exemplary embodiments of the present disclosure relate to a device for controlling an electromechanical brake system and a method thereof, and more specifically, to a device for controlling an electromechanical brake system and a method of controlling an electromechanical brake system, which are formed so that an additional brake module for additional braking including a parking brake and a main brake module for main braking of a vehicle are independently configured to ensure braking performance through linked control even in the event of a failure. Background Art

[0002] The braking system is of vital importance to a vehicle. This is because a vehicle that cannot stop cannot move. Therefore, for the safety of passengers, the stability of the braking system cannot be overemphasized.

[0003] Therefore, instead of the existing hydraulic system, an electronic master booster is used to enhance and provide brake hydraulic pressure. An anti-lock braking system (ABS) is used to prevent tires from locking during sudden braking and shorten the braking distance by avoiding sudden steering wheel manipulation (to avoid danger), an electronic stability control (ESC) system is used to stably maintain the vehicle's attitude by adjusting the vehicle's braking force and engine output in dangerous situations where the vehicle skids, and an electronic parking brake (EPB) is used that automatically locks the brakes to prevent the vehicle from rolling backward when the vehicle stops or starts uphill and is automatically released when the vehicle starts.

[0004] Recently, as interest in autonomous vehicles and electric vehicles has increased, the braking system also requires stronger braking power and stability, and these electronically controlled braking devices are being used in combination.

[0005] The related art of the present disclosure is disclosed in Korean registered patent number 10-1417863 (published on July 9, 2014, entitled “Electrically controlled brake system”). Summary of the invention

[0006] As described above, in order to realize an electromechanical brake system by combining electronically controlled brake devices, there is a problem that a large amount of wirings is required to operate each device.

[0007] Furthermore, in order to install each electronically controlled brake device, a mounting location for each device is required, and thus there is a problem in securing a space inside the vehicle.

[0008] At the same time, when a malfunction occurs while the vehicle is driving and the electronically controlled brake system fails to operate, a serious accident may result, so it is necessary to be prepared for the electronically controlled brake system to fail to operate.

[0009] Various embodiments made to solve the above-mentioned problems relate to a device and method for controlling an electromechanical braking system, wherein the device for controlling an electromechanical braking system is formed so that an additional braking module for additional braking including a parking brake and a main braking module for main braking of the vehicle are independently configured to ensure braking performance through linkage control even in the event of a failure.

[0010] According to one aspect of the present disclosure, a device for controlling an electromechanical braking system is provided, the device comprising: a first brake control module, configured to receive one or more of an electronic parking brake (EPB) switch signal, a brake control signal and a cylinder pressure value, and operate the parking brake and an additional brake valve; a second brake control module, configured to receive one or more of a brake pedal signal, a brake control signal and a cylinder pressure value, and operate a brake motor and a main brake valve; a first power supply module, configured to supply power to the first brake control module; a second power supply module, configured to supply power to the second brake control module; an integrated switch, which switches under the control of the first brake control module or the second brake control module and is configured to integrate the outputs of the first power supply module and the second power supply module; and a connection bus, configured to transmit send signals and receive signals between the first brake control module and the second brake control module.

[0011] When an open circuit fault occurs in any one of the first power module and the second power module, the first brake control module and the second brake control module may operate the integrated switch to integrate the output power.

[0012] When a short circuit fault occurs in any one of the first power module and the second power module, the first brake control module and the second brake control module can turn off the integrated switch to separate the output power.

[0013] The first brake control module may include: an EPB signal input module, which is configured to receive an EPB switch signal; a first communication module, which is configured to communicate with a peripheral control device through on-board communication and is configured to receive the brake control signal; an EPB drive module, which is configured to operate the parking brake; an additional brake valve drive module, which is configured to drive the additional brake valve for additional braking; a first cylinder pressure input module, which is configured to receive the cylinder pressure value from a cylinder pressure sensor; and a first processor, which is operably coupled to the EPB signal input module, the first communication module, the EPB drive module, the additional brake valve drive module and the first cylinder pressure input module, wherein the first processor can control the EPB drive module and the additional brake valve drive module according to signals input from one or more of the EPB signal input module, the first communication module and the first cylinder pressure input module.

[0014] The first communication module may include a common channel shared with the second brake control module.

[0015] The first processor may receive a fault signal, and when an open circuit fault occurs in the second power module, the first processor may operate the integrated switch, and when a short circuit fault occurs in the second power module, the first processor may turn off the integrated switch.

[0016] The second brake control module may include: a pedal signal input module, which is configured to receive a pedal travel value from a brake pedal sensor; a second communication module, which is configured to communicate with a peripheral control device through on-board communication and is configured to receive the brake control signal; a motor drive module, which is configured to drive the brake motor; a main brake valve drive module, which is configured to drive the main brake valve for the main brake of the vehicle; a second cylinder pressure input module, which is configured to receive the cylinder pressure value from a cylinder pressure sensor; and a second processor, which is operably coupled to the pedal signal input module, the second communication module, the motor drive module, the main brake valve drive module and the second cylinder pressure input module, wherein the second processor can control the motor drive module and the main brake valve drive module according to signals input from one or more of the pedal signal input module, the second communication module and the second cylinder pressure input module.

[0017] The second communication module may include a common channel shared with the first brake control module.

[0018] The second processor may receive a fault signal, and when an open circuit fault occurs in the first power module, the second processor may operate the integrated switch, and when a short circuit fault occurs in the first power module, the second processor may close the integrated switch.

[0019] According to another aspect of the present disclosure, a method for controlling an electromechanical braking system is provided, the method comprising: receiving an electronic parking brake (EPB) switch signal, a brake control signal and a cylinder pressure value through a first brake control module, and receiving a brake pedal signal, the brake control signal and the cylinder pressure value through a second brake control module; driving the parking brake and the additional brake valve through the first brake control module according to the input signal, and driving the brake motor and the main brake valve through the second brake control module according to the input signal; receiving a fault signal through the first brake control module and the second brake control module, and when an open circuit fault occurs in any one of the first power supply module and the second power supply module, the first brake control module or the second brake control module operates an integrated switch to integrate output power; and receiving a fault signal through the first brake control module and the second brake control module, and when a short circuit fault occurs in any one of the first power supply module and the second power supply module, the first brake control module or the second brake control module closes the integrated switch to separate the output power. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a block diagram illustrating an apparatus for controlling an electromechanical brake system according to an embodiment of the present disclosure.

[0021] Figure 2 is a flowchart for describing a method of controlling an electromechanical brake system according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0022] Hereinafter, an apparatus for controlling an electromechanical brake system and a method thereof according to the present disclosure will be described with reference to the accompanying drawings. Here, for the sake of clarity and convenience of description, the thickness of the lines shown in the drawings, the sizes of the constituent elements, etc. may be exaggerated. In addition, the terms described below are defined in consideration of the functions of the present disclosure, and these terms may vary according to the intention or habits of the user or operator. Therefore, the definitions of the terms used herein should follow the context disclosed herein.

[0023] Figure 1 is a block diagram illustrating an apparatus for controlling an electromechanical brake system according to an embodiment of the present disclosure.

[0024] like Figure 1As shown, the device for controlling an electromechanical brake system according to an embodiment of the present disclosure may include a first brake control module 10 , a second brake control module 20 , a first power module 30 , a second power module 40 , an integrated switch 50 and a connection bus 60 .

[0025] The first brake control module 10 may receive one or more of an electronic parking brake (EPB) switch signal, a brake control signal, and a cylinder pressure value to actuate the parking brake and the additional brake valve.

[0026] Here, the additional brake valve may include an inlet valve and an outlet valve to control hydraulic pressure supplied to the wheel cylinder to drive an anti-lock braking system (ABS) and an electronic stability control (ESC) system.

[0027] The second brake control module 20 may receive one or more of a brake pedal signal, a brake control signal, and a cylinder pressure value to drive a brake motor and a main brake valve.

[0028] The first power supply module 30 can independently supply power to the first brake control module 10 .

[0029] The second power supply module 40 can independently supply power to the second brake control module 20 .

[0030] The integrated switch 50 may be switched under the control of the first brake control module 10 or the second brake control module 20 to integrate the outputs of the first power module 30 and the second power module 40 .

[0031] Here, the integrated switch 50 may supply the output power of the first power module 30 to the second brake control module 20 , and supply the output power of the second power module 40 to the first brake control module 10 .

[0032] Therefore, the first brake control module 10 and the second brake control module 20 can receive the fault signal, and when an open circuit fault occurs in any one of the first power module 30 and the second power module 40, the first brake control module 10 and the second brake control module 20 can operate the integrated switch 50 to integrate the output power. However, when a short circuit fault occurs in any one of the first power module 30 and the second power module 40, the first brake control module 10 and the second brake control module 20 can close the integrated switch 50 to separate the output power.

[0033] In this way, when an open circuit failure occurs in the first power module 30 and the second power module 40 , the output power can be integrated through the integrated switch 50 , so that the first brake control module 10 and the second brake control module 20 can work normally.

[0034] The connection bus 60 may transmit transmission signals and reception signals between the first brake control module 10 and the second brake control module 20 .

[0035] For example, the connection bus 60 may transfer a transmission signal and a reception signal between the first brake control module 10 and the second brake control module 20 through a general purpose input output (GPIO) or a universal asynchronous receiver transmitter (UART).

[0036] In this way, the first brake control module 10 for additional braking including the parking brake and the second brake control module 20 for main braking of the vehicle can be separated and can independently receive power through the first power module 30 and the second power module 40. When an open circuit failure occurs in any one of the first power module 30 and the second power module 40, the integrated switch 50 is operated to integrate the output power so that both the first brake control module 10 and the second brake control module 20 can operate normally.

[0037] In addition, when a short circuit fault occurs in any one of the first power supply module 30 and the second power supply module 40, the integrated switch 50 is turned off to separate power, and the braking performance can be ensured by the first brake control module 10 or the second brake control module 20 that operates normally according to the brake control signal through a complementary redundancy method.

[0038] Meanwhile, even when the first brake control module 10 or the second brake control module 20 fails, the braking performance can be ensured by a complementary redundancy method by the first brake control module 10 or the second brake control module 20 which operates normally according to the brake control signal from the peripheral control device.

[0039] More specifically, the first brake control module 10 may include an EPB signal input module 110 , a first communication module 120 , an EPB driving module 150 , an additional brake valve driving module 160 , a first memory 130 , and a first processor 140 .

[0040] The EPB signal input module 110 may receive an EPB switch signal.

[0041] In this case, the EPB switch signal may be directly received by the EPB signal input module 110 , or may be received by the first communication module 120 from a peripheral control device through vehicle communication.

[0042] The first communication module 120 may communicate with a peripheral control device through vehicle-mounted communication and receive a brake control signal.

[0043] In addition, the first communication module 120 may include a common channel shared with the second brake control module 20 to receive the same signal.

[0044] Here, the brake control signal may include not only a control signal for additional braking from a peripheral control device, but also a control signal for exhibiting braking performance through a redundant function when a failure occurs in the second brake control module 20 .

[0045] The EPB driver module 150 may use the power of the motor to operate the parking brake.

[0046] The additional brake valve driving module 160 may drive an additional brake valve including an inlet valve and an outlet valve for controlling hydraulic pressure supplied to a wheel cylinder according to an ABS or ESC function to perform additional braking.

[0047] The first cylinder pressure input module 170 may receive the master cylinder pressure value and the backup cylinder pressure value from the cylinder pressure sensors.

[0048] The first memory 130 may store executable programs and related data for brake control, and the stored information may be selected by the first processor 140 as needed.

[0049] That is, the first memory 130 stores various types of data and commands generated during the execution of an operating system (O / S) or an application program (program or applet) for brake control.

[0050] In this case, the first memory 130 can be implemented as a non-volatile memory, a volatile memory, a flash memory, a hard disk drive (HDD) or a solid state drive (SSD). In addition, the first memory 130 can be accessed, and the reading / recording / editing / deleting / updating of data can be performed by the first processor 140.

[0051] The first processor 140 can be operably coupled to the EPB signal input module 110, the first communication module 120, the EPB drive module 150, the additional brake valve drive module 160 and the first cylinder pressure input module 170, and can perform various operations to control the overall operation for braking control by copying various programs stored in the first memory 130 to a random access memory (RAM) and executing the various programs.

[0052] Here, although the first processor 140 is described as including only one central processing unit (CPU), the first processor 140 may also be implemented as a plurality of CPUs (or digital signal processors (DSP), system-on-chips (SoC), etc.).

[0053] That is, the first processor 140 may control the EPB driving module 150 and the additional brake valve driving module 160 according to a signal input from one or more of the EPB signal input module 110 , the first communication module 120 , and the first cylinder pressure input module 170 .

[0054] Therefore, the first processor 140 receives a fault signal, and when an open circuit fault occurs in the second power module 40, the first processor 40 can operate the integrated switch 50 to integrate the output power, and when a short circuit fault occurs in the second power module 40, the first processor 140 can turn off the integrated switch 50 to separate the output power.

[0055] Next, the second brake control module 20 may include a pedal signal input module 210 , a second communication module 220 , a motor driving module 250 , a main brake valve driving module 260 , a second cylinder pressure input module 270 , a second memory 230 , and a second processor 240 .

[0056] The pedal signal input module 210 may receive a pedal travel value from a brake pedal sensor.

[0057] In this case, the pedal stroke value may be directly input through the pedal signal input module 210 , or may be input from a peripheral control device through the second communication module 220 by vehicle-mounted communication.

[0058] The second communication module 220 may communicate with the peripheral control device through vehicle-mounted communication and receive a brake control signal.

[0059] In addition, the second communication module 220 may include a common channel shared with the first brake control module 10 to receive the same signal.

[0060] Here, the brake control signal may include not only a control signal for additional braking from a peripheral control device, but also a control signal for exhibiting braking performance through a redundant function when a failure occurs in the first brake control module 10 .

[0061] The motor driving module 250 may drive a brake motor of an electric booster for service brakes of a vehicle.

[0062] The main brake valve driving module 260 may drive a main brake valve for controlling the hydraulic pressure of a master cylinder for main braking of a vehicle according to an operation of a brake pedal.

[0063] The second cylinder pressure input module 270 may receive the master cylinder pressure value and the backup cylinder pressure value from the cylinder pressure sensors.

[0064] The second memory 230 may store executable programs and related data for brake control, and the stored information may be selected by the second processor 240 as needed.

[0065] That is, the second memory 230 stores various types of data and commands generated during execution of an O / S or an application program (a program or an applet) for brake control.

[0066] In this case, the second memory 230 may be implemented as a nonvolatile memory, a volatile memory, a flash memory, an HDD, or an SSD. In addition, the second memory 230 may be accessed, and reading / recording / editing / deleting / updating of data may be performed by the second processor 240.

[0067] The second processor 240 can be operably coupled to the pedal signal input module 210, the second communication module 220, the motor drive module 250, the main brake valve drive module 260 and the second cylinder pressure input module 270, and can perform various operations to control the overall operation of the braking control by copying various programs stored in the second memory 230 to RAM and executing the various programs.

[0068] Here, although the second processor 240 is described as including only one CPU, the second processor 240 may also be implemented as a plurality of CPUs (or DSPs, SoCs, etc.).

[0069] That is, the second processor 240 may control the motor driving module 250 and the main brake valve driving module 260 according to signals input from one or more of the pedal signal input module 210 , the second communication module 220 , and the second cylinder pressure input module 270 .

[0070] Therefore, the second processor 240 receives a fault signal, and when an open circuit fault occurs in the first power module 30, the second processor 240 can operate the integrated switch 50 to integrate the output power, and when a short circuit fault occurs in the first power module 30, the second processor 240 can turn off the integrated switch 50 to separate the output power.

[0071] As described above, according to an embodiment of the present disclosure, the device for controlling an electromechanical brake system is independently formed by being divided into an additional brake module for additional braking including a parking brake and a main brake module for main braking of a vehicle. Even if a failure occurs, the braking performance can be ensured by linkage control through a redundant method of one control device, so that not only safety can be improved, but also the number of components can be reduced by reducing the number of controllers to achieve miniaturization and weight reduction, so that it is expected to improve productivity.

[0072] Figure 2 is a flowchart for describing a method of controlling an electromechanical brake system according to one embodiment of the present disclosure.

[0073] like Figure 2 As shown, according to a method for controlling an electromechanical brake system according to an embodiment of the present disclosure, the first brake control module 10 first receives an EPB switch signal, a brake control signal and a cylinder pressure value, and the second brake control module 20 receives a brake pedal signal, a brake control signal and a cylinder pressure value (S10).

[0074] In operation S10, the first brake control module and the second brake control module receive an EPB switch signal, a brake pedal signal and a cylinder pressure value for brake control, and then the first brake control module drives the parking brake and the additional brake valve according to the input signal and the brake control signal, and the second brake control module drives the brake motor and the main brake valve (S20).

[0075] Here, the additional brake valve may include an inlet valve and an outlet valve for controlling hydraulic pressure supplied to a wheel cylinder for driving the ABS and the ESC.

[0076] In this stable state, the first brake control module 10 and the second brake control module 20 receive a fault signal while independently performing brake control, and determine whether an open circuit fault occurs in the power module ( S30 ).

[0077] In operation S30, it is determined whether an open circuit fault occurs, and when an open circuit fault occurs, that is, when the first brake control module 10 and the second brake control module 20 receive a fault signal and the open circuit fault occurs in any one of the first power module 30 and the second power module 40, the integrated switch 50 is operated to integrate the output power (S40).

[0078] In this way, when an open circuit failure occurs in the power module, the integrated switch 50 is operated to integrate the output power of the first power module 30 and the second power module 40, so that the first brake control module 10 and the second brake control module 20 both operate normally.

[0079] Otherwise, in operation S30, it is determined whether an open circuit fault occurs in the power module. When a short circuit fault occurs instead of an open circuit fault, that is, when a short circuit fault occurs in any one of the first power module 30 and the second power module 40, the first brake control module 10 and the second brake control module 20 turn off the integrated switch 50 to separate the output power (S50).

[0080] As described above, when power cannot be supplied due to a short circuit fault of the power module, the braking performance can be ensured by the first brake control module 10 or the second brake control module 20 that operates normally according to the brake control signal through a complementary redundancy method.

[0081] In addition, even when the first brake control module 10 or the second brake control module 20 fails, the braking performance can be ensured by a complementary redundancy method through the first brake control module 10 or the second brake control module 20 operating normally according to the brake control signal from the peripheral control device.

[0082] As described above, according to the method of controlling an electromechanical brake system of one embodiment of the present disclosure, the device for controlling the electromechanical brake system is independently formed by being divided into an additional brake module for additional braking including a parking brake and a main brake module for main braking of the vehicle. Even when a failure occurs, the braking performance can be ensured by linkage control through a redundant method of one control device, so that not only safety can be improved, but also the number of components can be reduced by reducing the number of controllers to achieve miniaturization and weight reduction, so that it is expected to improve productivity.

[0083] The implementations described herein may also be implemented, for example, by methods or processes, devices, software programs, data streams, or signals. Even if only a single implementation form is discussed in the context (e.g., only methods are discussed), the implementation of the features discussed may also be implemented in other forms (e.g., devices or programs). The device may be implemented with suitable hardware, software, and firmware. The method may be implemented in a device such as a processor, which is generally referred to as a processing device, which may include, for example, a computer, a microprocessor, an integrated circuit, or a programmable logic device. The processor also includes communication devices, such as computers, cellular phones, portable / personal digital assistants (PDAs), and other devices that facilitate information communication between end users.

[0084] According to an apparatus for controlling an electromechanical brake system and a method thereof in one aspect of the present disclosure, the apparatus for controlling an electromechanical brake system is independently formed by being divided into an additional brake module for additional braking including a parking brake and a main brake module for main braking of a vehicle. Even when a failure occurs, the braking performance can be ensured by linkage control through a redundant method of one control device, thereby not only improving safety, but also reducing the number of components by reducing the number of controllers to achieve miniaturization and weight reduction, so that it is expected to improve productivity.

[0085] Although the present disclosure has been described with reference to the embodiments shown in the drawings, these embodiments are merely illustrative, and it is understood that those skilled in the art may derive various modifications and other equivalent embodiments based on the embodiments.

[0086] Therefore, the true technical scope of the present disclosure should be defined by the technical solutions of the present disclosure.

Claims

1. A device for controlling an electromechanical brake system, the device comprising: a first brake control module configured to receive one or more of an electronic parking brake EPB switch signal, a brake control signal, and a cylinder pressure value, and operate a parking brake and an additional brake valve; a second brake control module configured to receive one or more of a brake pedal signal, the brake control signal, and the cylinder pressure value, and operate a brake motor and a main brake valve; a first power module configured to supply power to the first brake control module; a second power module configured to supply power to the second brake control module; an integrated switch, which is switched under the control of the first brake control module or the second brake control module and is configured to integrate the outputs of the first power module and the second power module; and A connection bus is configured to transmit a sending signal and a receiving signal between the first brake control module and the second brake control module.

2. The device according to claim 1, wherein: When an open circuit fault occurs in any one of the first power module and the second power module, the first brake control module and the second brake control module operate the integrated switch to integrate output power.

3. The device according to claim 1, wherein: When a short circuit fault occurs in any one of the first power module and the second power module, the first brake control module and the second brake control module turn off the integrated switch to separate the output power.

4. The device according to claim 1, wherein: The first brake control module comprises: An EPB signal input module configured to receive the EPB switch signal; a first communication module configured to communicate with a peripheral control device via vehicle-mounted communication and configured to receive the brake control signal; an EPB actuation module configured to operate a parking brake; an additional brake valve driving module, configured to drive the additional brake valve for additional braking; A first cylinder pressure input module configured to receive the cylinder pressure value from a cylinder pressure sensor; and a first processor operably coupled to the EPB signal input module, the first communication module, the EPB driver module, the additional brake valve driver module, and the first cylinder pressure input module, The first processor controls the EPB driving module and the additional brake valve driving module according to a signal input from one or more of the EPB signal input module, the first communication module, and the first cylinder pressure input module.

5. The device according to claim 4, wherein: The first communication module includes a common channel shared with the second brake control module.

6. The device according to claim 4, wherein: The first processor receives a fault signal, and when an open circuit fault occurs in the second power module, the first processor operates the integrated switch, and when a short circuit fault occurs in the second power module, the first processor turns off the integrated switch.

7. The device according to claim 1, wherein: The second brake control module includes: a pedal signal input module configured to receive a pedal travel value from a brake pedal sensor; a second communication module configured to communicate with a peripheral control device via vehicle-mounted communication and configured to receive the brake control signal; a motor driving module configured to drive the brake motor; a main brake valve driving module configured to drive the main brake valve for main braking of the vehicle; a second cylinder pressure input module configured to receive the cylinder pressure value from a cylinder pressure sensor; and a second processor operably coupled to the pedal signal input module, the second communication module, the motor drive module, the master brake valve drive module, and the second cylinder pressure input module, The second processor controls the motor driving module and the main brake valve driving module according to a signal input from one or more of the pedal signal input module, the second communication module and the second cylinder pressure input module.

8. The device according to claim 7, wherein: The second communication module includes a common channel shared with the first brake control module.

9. The device according to claim 7, wherein: The second processor receives a fault signal, and when an open circuit fault occurs in the first power module, the second processor operates the integrated switch, and when a short circuit fault occurs in the first power module, the second processor turns off the integrated switch.

10. A method for controlling an electromechanical brake system, the method comprising: Receiving an electronic parking brake (EPB) switch signal, a brake control signal and a cylinder pressure value through a first brake control module, and receiving a brake pedal signal, the brake control signal and the cylinder pressure value through a second brake control module; actuating the parking brake and the additional brake valve according to the input signal through the first brake control module, and actuating the brake motor and the main brake valve according to the input signal through the second brake control module; receiving a fault signal through the first brake control module and the second brake control module, and when an open circuit fault occurs in any one of the first power module and the second power module, the first brake control module or the second brake control module operates an integrated switch to integrate output power; and A fault signal is received by the first brake control module and the second brake control module, and when a short circuit fault occurs in any one of the first power module and the second power module, the first brake control module or the second brake control module turns off the integrated switch to separate the output power.

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